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针对欠驱动Hovercraft提出一种基于动态面的反演轨迹跟踪控制方法。首先建立Hovercraft在参考轨迹下的跟踪误差动态方程;其次应用反演法设计3个虚拟速度和2个实际力矩控制量;然后引入动态面控制技术,通过设计3个一阶低通滤波器来避免反演设计中要求对虚拟速度控制量进行反复的求导运算,以降低控制器的设计复杂性;最后应用李雅普诺夫稳定性理论证明控制系统是稳定的,且跟踪误差收敛至零的小领域内。仿真结果表明,控制方法能跟踪任意光滑参考轨迹,并且具有快速的跟踪控制性能。
Aiming at the under-driven Hovercraft, a dynamic surface-based approach to tracking trajectory tracking control is proposed. Firstly, the tracking error dynamic equation of Hovercraft under the reference trajectory is established. Secondly, three virtual velocities and two actual moment control variables are designed by using the inversion method. Then dynamic surface control technology is introduced, and three first-order low-pass filters are designed to avoid The inversion design requires repeated derivation of the virtual velocity control to reduce the design complexity of the controller. Finally, the Lyapunov stability theory is applied to prove that the control system is stable and the tracking error converges to zero in a small area Inside. The simulation results show that the control method can track any smooth reference trajectory and has fast tracking control performance.